Title :
A Low Cost Modular Autonomous Robot Vehicle
Author :
Edwan, Ezzaldeen ; Fierro, Rafael
Author_Institution :
Dept. of Eng., Palestine Tech. Coll., Gaza
Abstract :
In this paper, we describe a modular autonomous platform that is being used for research and education in cooperative multi-vehicle systems. A two-layer hierarchical architecture has been implemented and tested in realistic environments. The lower-level controller accepts velocity commands from the higher-level and takes care of the nonlinear dynamics of the vehicle. The higher-level controller, on the other hand, integrates motion coordination and Kalman filter based localization techniques. The result is a cost effective mobile, flexible robot platform ideal for research in cooperative robotics and motion-enabled sensor nets. Experimental results validate the performance of the mobile robot and architecture described herein
Keywords :
Kalman filters; cooperative systems; hierarchical systems; mobile robots; multi-robot systems; nonlinear dynamical systems; remotely operated vehicles; telerobotics; Kalman filter; cooperative multi-vehicle systems; low cost modular autonomous robot vehicle; mobile flexible robot; nonlinear dynamics; two-layer hierarchical architecture; Angular velocity; Costs; Mobile robots; Remotely operated vehicles; Robot kinematics; Robot sensing systems; Testing; Vehicle dynamics; Velocity control; Wheels;
Conference_Titel :
System Theory, 2006. SSST '06. Proceeding of the Thirty-Eighth Southeastern Symposium on
Conference_Location :
Cookeville, TN
Print_ISBN :
0-7803-9457-7
DOI :
10.1109/SSST.2006.1619074
